In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. Desired performance is obtained by optimizing the way energy is exploited for generating the behaviour at each side. The effectiveness of the proposed architecture is experimentally validated on a torque-controlled manipulator and in a surgical scenario, using the da Vinci® Research Kit (dVRK).

An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation / Loschi, F.; Piccinelli, N.; Dall'Alba, D.; Muradore, R.; Fiorini, P.; Secchi, C.. - 2021:(2021), pp. 12449-12455. (Intervento presentato al convegno 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 tenutosi a virtual nel 2021) [10.1109/ICRA48506.2021.9561542].

An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation

Secchi C.
2021

Abstract

In this paper, we propose a novel bilateral teleoperation architecture that allows to optimally render the remote interaction force at the local side while guaranteeing a robustly stable behaviour. Stability is guaranteed by ensuring a proper energy exchange between the local and the remote sides. Desired performance is obtained by optimizing the way energy is exploited for generating the behaviour at each side. The effectiveness of the proposed architecture is experimentally validated on a torque-controlled manipulator and in a surgical scenario, using the da Vinci® Research Kit (dVRK).
2021
2021 IEEE International Conference on Robotics and Automation, ICRA 2021
virtual
2021
2021
12449
12455
Loschi, F.; Piccinelli, N.; Dall'Alba, D.; Muradore, R.; Fiorini, P.; Secchi, C.
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation / Loschi, F.; Piccinelli, N.; Dall'Alba, D.; Muradore, R.; Fiorini, P.; Secchi, C.. - 2021:(2021), pp. 12449-12455. (Intervento presentato al convegno 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 tenutosi a virtual nel 2021) [10.1109/ICRA48506.2021.9561542].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1281831
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 1
social impact